aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Math: Add missing constexpr

Browse Source 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2020-03-04 16:33:16 -03:00 committed by Andrew Tridgell
parent c9f2b9ff87
commit 1635054c4f
2 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Math/AP_Math.cpp
View File

@ -103,7 +103,7 @@ float linear_interpolate(float low_output, float high_output,
* alpha range: [0,1] min to max expo * alpha range: [0,1] min to max expo
* input range: [-1,1] * input range: [-1,1]
*/ */
float expo_curve(float alpha, float x) constexpr float expo_curve(float alpha, float x)
{ {
return (1.0f - alpha) * x + alpha * x * x * x; return (1.0f - alpha) * x + alpha * x * x * x;
} }

14
libraries/AP_Math/AP_Math.h
View File

@ -215,32 +215,32 @@ static inline auto MAX(const A &one, const B &two) -> decltype(one > two ? one :
return one > two ? one : two; return one > two ? one : two;
} }
inline uint32_t hz_to_nsec(uint32_t freq) inline constexpr uint32_t hz_to_nsec(uint32_t freq)
{ {
return AP_NSEC_PER_SEC / freq; return AP_NSEC_PER_SEC / freq;
} }
inline uint32_t nsec_to_hz(uint32_t nsec) inline constexpr uint32_t nsec_to_hz(uint32_t nsec)
{ {
return AP_NSEC_PER_SEC / nsec; return AP_NSEC_PER_SEC / nsec;
} }
inline uint32_t usec_to_nsec(uint32_t usec) inline constexpr uint32_t usec_to_nsec(uint32_t usec)
{ {
return usec * AP_NSEC_PER_USEC; return usec * AP_NSEC_PER_USEC;
} }
inline uint32_t nsec_to_usec(uint32_t nsec) inline constexpr uint32_t nsec_to_usec(uint32_t nsec)
{ {
return nsec / AP_NSEC_PER_USEC; return nsec / AP_NSEC_PER_USEC;
} }
inline uint32_t hz_to_usec(uint32_t freq) inline constexpr uint32_t hz_to_usec(uint32_t freq)
{ {
return AP_USEC_PER_SEC / freq; return AP_USEC_PER_SEC / freq;
} }
inline uint32_t usec_to_hz(uint32_t usec) inline constexpr uint32_t usec_to_hz(uint32_t usec)
{ {
return AP_USEC_PER_SEC / usec; return AP_USEC_PER_SEC / usec;
} }
@ -256,7 +256,7 @@ float linear_interpolate(float low_output, float high_output,
* alpha range: [0,1] min to max expo * alpha range: [0,1] min to max expo
* input range: [-1,1] * input range: [-1,1]
*/ */
float expo_curve(float alpha, float input); constexpr float expo_curve(float alpha, float input);
/* throttle curve generator /* throttle curve generator
* thr_mid: output at mid stick * thr_mid: output at mid stick